Watercraft including operating devices to adjust an amount and a direction of a propulsive force of the watercraft
A watercraft includes a plurality of watercraft operating devices arranged to adjust an amount and/or a direction of a propulsive force or a resistance provided to a prescribed position of the watercraft, operation devices arranged to operate the plurality of watercraft operating devices, actuators arranged to actuate the respective watercraft operating devices, and a control unit arranged to control an operation amount of each of the actuators based on an operational state of the operation devices. The control unit preferably includes a traveling state detecting device arranged to detect a traveling state of the watercraft, an operational state detecting device arranged to detect an operational state of the operation devices, a traveling plan estimating device arranged to estimate a traveling plan of an operator of the watercraft based on the traveling state and the operational state, and a watercraft operating device controlling device arranged to select one of the watercraft operating devices to be controlled from the plurality of watercraft operating devices, and arranged to control an operating amount of the actuator operating the watercraft operating device.
1. A watercraft comprising:
a plurality of watercraft operating devices arranged to adjust an amount and/or a direction of a propulsive force or a resistance to the watercraft, the plurality of watercraft operating devices including a steerable outboard motor, a trawling motor, and a bow thruster;
an operation device arranged to operate the plurality of watercraft operating devices; and
a control unit arranged to select a watercraft operating device from among the trawling motor and the bow thruster that provides a propulsion force and a moment that is closest to a target controlling force that achieves a target movement change of the watercraft, and the control unit controls the steerable outboard motor and the selected watercraft operating device such that each of the steerable outboard motor and the selected watercraft operating device generates a propulsion force and a moment based on an operational state of the operation device; wherein
when the control unit judges that either the steerable outboard motor or the selected watercraft operating device is not working properly, the control unit selects another watercraft operating device other than the steerable outboard motor and the selected watercraft operating device to be controlled, and determines an operation amount of the another watercraft operating device other than the steerable outboard motor and the selected watercraft operating device.
2. The watercraft according to claim 1 , wherein the operation device includes:
a speed controlling system arranged to adjust a traveling speed of the watercraft; and
a direction controlling system arranged to adjust a traveling direction of the watercraft; and
the control unit includes a watercraft operating device controlling device configured to control the steerable outboard motor and the selected watercraft operating device by operation of the direction controlling system.
3. The watercraft according to claim 1 , wherein the control unit includes a watercraft operating device controlling device arranged to:
determine the target movement change of the watercraft based on operation of the operation device;
calculate the target controlling force provided to the watercraft based on the target movement change; and
determine an operation amount of the steerable outboard motor and the selected watercraft operating device based on the target controlling force.
4. The watercraft according to claim 1 , wherein the operation device includes an operating element that is manually operated by the operator of the watercraft.